Clone of mbed rtos 2 for easy accessibility.
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rtos/Thread.h
- Committer:
- Kojto
- Date:
- 2017-07-04
- Revision:
- 125:5713cbbdb706
- Parent:
- 123:58563e6cba1e
File content as of revision 125:5713cbbdb706:
/* mbed Microcontroller Library * Copyright (c) 2006-2012 ARM Limited * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal * in the Software without restriction, including without limitation the rights * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell * copies of the Software, and to permit persons to whom the Software is * furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be included in * all copies or substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE * SOFTWARE. */ #ifndef THREAD_H #define THREAD_H #include <stdint.h> #include "cmsis_os.h" #include "platform/Callback.h" #include "platform/toolchain.h" #include "rtos/Semaphore.h" #include "rtos/Mutex.h" namespace rtos { /** \addtogroup rtos */ /** @{*/ /** The Thread class allow defining, creating, and controlling thread functions in the system. * * Example: * @code * #include "mbed.h" * #include "rtos.h" * * Thread thread; * DigitalOut led1(LED1); * volatile bool running = true; * * // Blink function toggles the led in a long running loop * void blink(DigitalOut *led) { * while (running) { * *led = !*led; * Thread::wait(1000); * } * } * * // Spawns a thread to run blink for 5 seconds * int main() { * thread.start(led1, blink); * Thread::wait(5000); * running = false; * thread.join(); * } * @endcode */ class Thread { public: /** Allocate a new thread without starting execution @param priority initial priority of the thread function. (default: osPriorityNormal). @param stack_size stack size (in bytes) requirements for the thread function. (default: DEFAULT_STACK_SIZE). @param stack_pointer pointer to the stack area to be used by this thread (default: NULL). */ Thread(osPriority priority=osPriorityNormal, uint32_t stack_size=DEFAULT_STACK_SIZE, unsigned char *stack_pointer=NULL) { constructor(priority, stack_size, stack_pointer); } /** Create a new thread, and start it executing the specified function. @param task function to be executed by this thread. @param argument pointer that is passed to the thread function as start argument. (default: NULL). @param priority initial priority of the thread function. (default: osPriorityNormal). @param stack_size stack size (in bytes) requirements for the thread function. (default: DEFAULT_STACK_SIZE). @param stack_pointer pointer to the stack area to be used by this thread (default: NULL). @deprecated Thread-spawning constructors hide errors. Replaced by thread.start(task). @code Thread thread(priority, stack_size, stack_pointer); osStatus status = thread.start(task); if (status != osOK) { error("oh no!"); } @endcode */ MBED_DEPRECATED_SINCE("mbed-os-5.1", "Thread-spawning constructors hide errors. " "Replaced by thread.start(task).") Thread(mbed::Callback<void()> task, osPriority priority=osPriorityNormal, uint32_t stack_size=DEFAULT_STACK_SIZE, unsigned char *stack_pointer=NULL) { constructor(task, priority, stack_size, stack_pointer); } /** Create a new thread, and start it executing the specified function. @param obj argument to task. @param method function to be executed by this thread. @param argument pointer that is passed to the thread function as start argument. (default: NULL). @param priority initial priority of the thread function. (default: osPriorityNormal). @param stack_size stack size (in bytes) requirements for the thread function. (default: DEFAULT_STACK_SIZE). @param stack_pointer pointer to the stack area to be used by this thread (default: NULL). @deprecated Thread-spawning constructors hide errors. Replaced by thread.start(callback(task, argument)). @code Thread thread(priority, stack_size, stack_pointer); osStatus status = thread.start(callback(task, argument)); if (status != osOK) { error("oh no!"); } @endcode */ template <typename T> MBED_DEPRECATED_SINCE("mbed-os-5.1", "Thread-spawning constructors hide errors. " "Replaced by thread.start(callback(task, argument)).") Thread(T *argument, void (T::*task)(), osPriority priority=osPriorityNormal, uint32_t stack_size=DEFAULT_STACK_SIZE, unsigned char *stack_pointer=NULL) { constructor(mbed::callback(task, argument), priority, stack_size, stack_pointer); } /** Create a new thread, and start it executing the specified function. @param obj argument to task. @param method function to be executed by this thread. @param argument pointer that is passed to the thread function as start argument. (default: NULL). @param priority initial priority of the thread function. (default: osPriorityNormal). @param stack_size stack size (in bytes) requirements for the thread function. (default: DEFAULT_STACK_SIZE). @param stack_pointer pointer to the stack area to be used by this thread (default: NULL). @deprecated Thread-spawning constructors hide errors. Replaced by thread.start(callback(task, argument)). @code Thread thread(priority, stack_size, stack_pointer); osStatus status = thread.start(callback(task, argument)); if (status != osOK) { error("oh no!"); } @endcode */ template <typename T> MBED_DEPRECATED_SINCE("mbed-os-5.1", "Thread-spawning constructors hide errors. " "Replaced by thread.start(callback(task, argument)).") Thread(T *argument, void (*task)(T *), osPriority priority=osPriorityNormal, uint32_t stack_size=DEFAULT_STACK_SIZE, unsigned char *stack_pointer=NULL) { constructor(mbed::callback(task, argument), priority, stack_size, stack_pointer); } /** Create a new thread, and start it executing the specified function. Provided for backwards compatibility @param task function to be executed by this thread. @param argument pointer that is passed to the thread function as start argument. (default: NULL). @param priority initial priority of the thread function. (default: osPriorityNormal). @param stack_size stack size (in bytes) requirements for the thread function. (default: DEFAULT_STACK_SIZE). @param stack_pointer pointer to the stack area to be used by this thread (default: NULL). @deprecated Thread-spawning constructors hide errors. Replaced by thread.start(callback(task, argument)). @code Thread thread(priority, stack_size, stack_pointer); osStatus status = thread.start(callback(task, argument)); if (status != osOK) { error("oh no!"); } @endcode */ MBED_DEPRECATED_SINCE("mbed-os-5.1", "Thread-spawning constructors hide errors. " "Replaced by thread.start(callback(task, argument)).") Thread(void (*task)(void const *argument), void *argument=NULL, osPriority priority=osPriorityNormal, uint32_t stack_size=DEFAULT_STACK_SIZE, unsigned char *stack_pointer=NULL) { constructor(mbed::callback((void (*)(void *))task, argument), priority, stack_size, stack_pointer); } /** Starts a thread executing the specified function. @param task function to be executed by this thread. @return status code that indicates the execution status of the function. */ osStatus start(mbed::Callback<void()> task); /** Starts a thread executing the specified function. @param obj argument to task @param method function to be executed by this thread. @return status code that indicates the execution status of the function. @deprecated The start function does not support cv-qualifiers. Replaced by start(callback(obj, method)). */ template <typename T, typename M> MBED_DEPRECATED_SINCE("mbed-os-5.1", "The start function does not support cv-qualifiers. " "Replaced by thread.start(callback(obj, method)).") osStatus start(T *obj, M method) { return start(mbed::callback(obj, method)); } /** Wait for thread to terminate @return status code that indicates the execution status of the function. @note not callable from interrupt */ osStatus join(); /** Terminate execution of a thread and remove it from Active Threads @return status code that indicates the execution status of the function. */ osStatus terminate(); /** Set priority of an active thread @param priority new priority value for the thread function. @return status code that indicates the execution status of the function. */ osStatus set_priority(osPriority priority); /** Get priority of an active thread @return current priority value of the thread function. */ osPriority get_priority(); /** Set the specified Signal Flags of an active thread. @param signals specifies the signal flags of the thread that should be set. @return previous signal flags of the specified thread or 0x80000000 in case of incorrect parameters. */ int32_t signal_set(int32_t signals); /** Clears the specified Signal Flags of an active thread. @param signals specifies the signal flags of the thread that should be cleared. @return resultant signal flags of the specified thread or 0x80000000 in case of incorrect parameters. */ int32_t signal_clr(int32_t signals); /** State of the Thread */ enum State { Inactive, /**< Not created or terminated */ Ready, /**< Ready to run */ Running, /**< Running */ WaitingDelay, /**< Waiting for a delay to occur */ WaitingInterval, /**< Waiting for an interval to occur */ WaitingOr, /**< Waiting for one event in a set to occur */ WaitingAnd, /**< Waiting for multiple events in a set to occur */ WaitingSemaphore, /**< Waiting for a semaphore event to occur */ WaitingMailbox, /**< Waiting for a mailbox event to occur */ WaitingMutex, /**< Waiting for a mutex event to occur */ /* Not in sync with RTX below here */ Deleted, /**< The task has been deleted */ }; /** State of this Thread @return the State of this Thread */ State get_state(); /** Get the total stack memory size for this Thread @return the total stack memory size in bytes */ uint32_t stack_size(); /** Get the currently unused stack memory for this Thread @return the currently unused stack memory in bytes */ uint32_t free_stack(); /** Get the currently used stack memory for this Thread @return the currently used stack memory in bytes */ uint32_t used_stack(); /** Get the maximum stack memory usage to date for this Thread @return the maximum stack memory usage to date in bytes */ uint32_t max_stack(); /** Wait for one or more Signal Flags to become signaled for the current RUNNING thread. @param signals wait until all specified signal flags set or 0 for any single signal flag. @param millisec timeout value or 0 in case of no time-out. (default: osWaitForever). @return event flag information or error code. @note not callable from interrupt */ static osEvent signal_wait(int32_t signals, uint32_t millisec=osWaitForever); /** Wait for a specified time period in millisec: @param millisec time delay value @return status code that indicates the execution status of the function. @note not callable from interrupt */ static osStatus wait(uint32_t millisec); /** Pass control to next thread that is in state READY. @return status code that indicates the execution status of the function. @note not callable from interrupt */ static osStatus yield(); /** Get the thread id of the current running thread. @return thread ID for reference by other functions or NULL in case of error. */ static osThreadId gettid(); /** Attach a function to be called by the RTOS idle task @param fptr pointer to the function to be called */ static void attach_idle_hook(void (*fptr)(void)); /** Attach a function to be called when a task is killed @param fptr pointer to the function to be called */ static void attach_terminate_hook(void (*fptr)(osThreadId id)); virtual ~Thread(); private: // Required to share definitions without // delegated constructors void constructor(osPriority priority=osPriorityNormal, uint32_t stack_size=DEFAULT_STACK_SIZE, unsigned char *stack_pointer=NULL); void constructor(mbed::Callback<void()> task, osPriority priority=osPriorityNormal, uint32_t stack_size=DEFAULT_STACK_SIZE, unsigned char *stack_pointer=NULL); static void _thunk(const void * thread_ptr); mbed::Callback<void()> _task; osThreadId _tid; osThreadDef_t _thread_def; bool _dynamic_stack; Semaphore _join_sem; Mutex _mutex; }; } #endif /** @}*/